International Journal of Electronics, Electrical and Computational System

IJEECS
ISSN 2348-117X
Volume 6, Issue 11
November 2017

A Review on Automatic Wheelchair Control using Hand

Gesture

Mohite Nita Baburao Kachare Ashwini Vitthal Lengare Pankaj Shahaji

UG Student, Electronics and UG Student, Electronics and Assistant Professor, Electronics and
Telecommunication, Telecommunication, Telecommunication,
Adarsh Institute of Technology and Adarsh Institute of Technology and Adarsh Institute of Technology and
Research Centre Vita, India Research Centre Vita, India Research Centre Vita, India

Abstract: As we can see the ratio of accident cases in
India is increasing day by day. Due to that, ratio of
handicapped persons is also increases. Also ageing
persons need wheelchair in day-to-day life. Minimum
10% people needs wheelchair for performing their work.
In market there are so many wheelchair are available but
cost of those wheelchair is very high so that some of
peoples are not capable to buy an expansive wheelchair.
Hence we need to design a wheelchair having less cost
and must performs better operation as compare to other
wheelchair.
This paper introduces a wheelchair, which operates on
some easy hand gesture. As it works on hand gestures this
wheelchair does not requires help of any other person for
pushing it, hence handicapped or physically disabled
person feel independent. This wheelchair will also be
helpful for increasing the self-confidence of handicapped
or physically disabled persons. Hand gesture circuit
consist of two section first section is transmitter section
and second section is receiver section. Gyro sensor
(Accelerometer)is main part of this paper which is used to
sense the movement of hand gesture.
Keywords: Gyro MEMS sensor,RF module,wheelchair.
INTRODUCTION
“Hand gesture controlled wheelchair” is
designed for handicapped, physically disabled,
ageing persons and those persons who depend on
other persons. This paper introduces one type
wheelchair which operates on some easy movement
of hand. Movement of hand is inartificial hence this
wheelchair is user-friendly. This wheelchair will
easy to operate, because it can operated even by a
user’s palm. In this paper we have to use hand
motion to drive the wheelchair. For this purpose we
have used accelerometer which works on
acceleration. Accelerometer sensor will be attached
to our hand through a hand glove.
There are five hand gesture required
for moving of wheelchair. Those gestures contain
tilting of hand in front side, in back side, in left side,
in right side and hand in stable condition, these
gestures are responsible for movement of wheelchair
like forward, backward, left, right, and stop. The
main purpose of this paper is to develop wireless
hand gesture controlled wheelchair using
accelerometer MEMS sensor. The whole paper is
divided into two parts. First part is known as
Transmitter part and second part is known as
Receiver part. Transmitting part consists of
Accelerometer (ADXL335), Arduino Uno,
Encoderand RF-Transmitterwhereasreceiving part
consists of RF-Receiver, Decoder, Motor driver IC
(L293D), DC Motor and wheels of wheelchair.
When accelerometer sensor is place on hand, it
senses the movement of hand gesture and provides
x-axis and y-axis analog value at output side of
accelerometer sensor. Arduinois used to convert
analog value from accelerometer sensor to digital
form. Arduino sends this digital value to encoder.A
serial transmission is established between RF-
Receiver and RF-Transmitterto pass the data to
decoder. The decoder provides parallel interfacing to
the motor driver IC. The DC motor will get
interfacing data from the decoder and motor driver
IC. As per status of driver IC, DC motor will drive.
This can be used to move the wheelchair.
NEED OF PROJECT
In day today life handicapped or physically disabled
person faces many problems. To remove this
problem there are many wheelchairs are available in

1 Mohite Nita Baburao KachareAshwini Vitthal LengarePankaj Shahaji

 International Journal of Electronics, Electrical and Computational System
market. But working of that wheelchair is not
effective as well as cost of that wheelchair is more.
Due to this reason some peoples are not been able to
buy expensive wheelchair. To resolving this problem
regarding with cost, speed, accuracy etc. we develop
a wheelchair which operates on hand gesture. To
develop wheelchair we must focus on following
point.
 Main focus is developing wheelchair which
is controlled by hand gesture.
 A wheelchair whose cost is less as compared
to other wheelchair which is available in
market
 Which is uses less power supply for
operation.
 Which provides range from 40 m to 60 m?
 Which operates on wireless technology
 Which must be portable and easy to handle?
 To be used by handicapped person as well as
patient.
 To develop a wheelchair whose directions is
depend on movement of hand.
.
RELATED WORK
Till now there are many wheelchair developed for
handicapped or physically disabled persons which
operates on hand, voice, and shoulder or clapping
movement. We design wheelchair for handicapped
persons which works on hand gesture. The following
paper describes different types of wheelchairs which
are available in market.
1. Wheelchair Automation using head gesture
This paper design an automated system
which is controlled by the motor rotation of
wheelchair depends on head gesture. For designing
[6] wheelchair PIC controlled, accelerometer sensor
is used in transmitter side whereas IR sensor used in
receiver side. To control the motion of wheelchair
accelerometer sensor is fitted on head of
handicapped persons. Depending upon gestures of
head transmitter side sends the command to receiver
side. Based on head gesture an accelerometer
generates command signal. According to transmitter
signal driver circuit will drive the motor fitted to the
wheelchair. In this way movement of wheelchair
take place. This wheelchair is used by the people
who are suffering from spinal cord injury. There is
one drawback of this wheelchair is head of
handicapped person should always in the range of
2 Mohite Nita Baburao KachareAshwini Vitthal LengarePankaj Shahaji
IJEECS
ISSN 2348-117X
Volume 6, Issue 11
November 2017
sensor if this is not happen then handicapped person
is not able to control the movement of wheelchair.
2. Hand Gesture Controlled wheelchair
Main purpose of this paper is developing a
wheelchair which is controlled by hand gesture.
Paper [2] is divided into two part first part is known
as MEMS sensor and second part is called as
wheelchair control. This wheelchair contains with
MEMS sensor, PIC microcontroller, RF-Transmitter,
and RF-Receiver. MEMS sensor is contacted to hand
and which is 3-axis accelerometer. Output of
accelerometer is contacted to PIC microcontroller.
The wheelchair controlled unit is operates on
wireless technology. RF Transmitter is used in this
wheelchair for removing complexity. In this paper
hand gesture controlled wheelchair is designed for
that PIC microcontroller is replace with arduino.
Because An Arduino is an open- source electronics
platform based on easy to use hardware and
software. It’s intended for anyone making interactive
projects.
3. Tongue operated wheelchair
Research paper [12]explains implementation and
designing of tongue operated wheelchair for physical
disabled persons. This paper introduces the
wheelchair which is operated on movement of
tongue. For controlling functions of wheelchair PIC
controller, tongue drive system (TDS), magnetic
field sensor and RF- transmitter module is used. Hall
Effect sensor is mounted on mouth. It is used to
measure the magnetic field generated by small
permanent magnet secured on the tongue. Sensor
transmit signal to wireless unit for controlling
motion of wheelchair.
4. Hand Gesture Controlled Robot
In this[11] paper hand movements are sensed by
robot through accelerometer. In this paper robot
contains the accelerometer, RF module,
Microcontroller, Motor driver. Here using the
accelerometer for sensing the gesture of hand. RF
transmitter and receiver using for encoding or
decoding the incoming single from accelerometer.
Motor driver is used to control the motion of the
wheelchair. Microcontroller is harder to program and
can be put to sometime use. Arduino is easier to
program and can be put immediate use.
5. Android phone controlled wheelchair
In this [10] paper wheelchair is controlled by
android phone. This wheelchair is used as physically
 International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 11
November 2017

disabled persons as well as normal persons. Transmitter part

Physically disabled peoples cannot dependent on
other persons. In this wheelchair 8 bit
microcontroller is used. In this paper Android phone Power
is used to control the movement of wheelchair. This Supply
wheelchair consistsof Android device and a control
box that can be connected to wheelchair to control
the movement by using a DC motor. Bluetooth
communication protocol is used to communicate
sensory and command information between the
android device and the control box. Android phone
Gyro
sends the command to control box and as per RF
Sensor
command of android phone movement of wheelchair Transmitt
take place. There are 4 options applied by user to er
wheelchair. Those options are moving forward, Arduino
moving backward, turning to the right and left and UNO
last is become stop.
Reset
Circuit Encoder
Percentage of Physically Disabled persons HT12E

40 Oscillator
Circuit
Millions

20

0
Figure 1: Transmitter part

Above figure 1 shows block diagram of the

Percentage
of…
PREPOSED WORK
In related work we see there is different technology
used for designing a wheelchair. Instead of all this
technology we use another technology and develop
wheelchair which is operated on hand gesture.
Accelerometer sensor is used for sensing of hand
gesture. According to hand gesture Arduinouno
sends the command and movement of wheelchair
take place.Whole paper is divided into two parts.
First is Transmitter part and second is Receiver part.
Transmitter part is used for sensing the hand gesture
whereas receiver part controls motion of wheelchair.
transmitter part. Transmitter part is used for sensing
the hand gesture. Transmitter part consists of gyro
sensor, reset circuit, oscillator circuit, Aurino and
RF-Transmitter. Transmitter part required 5vpower
supply for their operation.Gyro sensor is used to
measure the acceleration. Gyro sensor send only x
and y value coordinate not z coordinate because
gesture of hand take place in x and y plane. Then this
x and y analog value is send to Arduino. Arduino
checks analog value of x and y coordinate
respectively. And send 4 bit data to Encoder.
Encoder passes serial data to RF-Transmitter Then
RF-Transmitter passes the data to the RF-Receiver
wirelessly. RF module is a transreceiver module.
This module provides easy RF-communication.
Reset circuit is used for reset the Arduino. And
Oscilltator circuit is used because Arduino is dealing

3 Mohite Nita Baburao KachareAshwini Vitthal LengarePankaj Shahaji

 International Journal of Electronics, Electrical and Computational System
with time issues. In transmitter part Gyro sensor
performed main function. It detects the handgesture.
Following modification can be done in hand gesture
controlled wheelchair
1) Handicapped person can operates this wheelchair
with different gesture like eye gesture or can be
operated on directly brain or operated on clapping.
2) Health monitoring system can be implemented on
wheelchair which is very useful for handicapped
person. This system checks health of handicapped
persons daily.
Receiver part
RF
Receiver
Decoder Power Motor
HT12D Supply driver IC
Wheels of DC Motor
Chair
CONCLUSION
In this paper automated wheelchair has been
developed which operates on various hand gesture.
This wheelchair is useful for handicapped,
physically disabled, and ageing persons. MEMS
sensor that is Accelerometer used to detect hand
gesture. Wheelchair can move in forward, backward,
4 Mohite Nita Baburao KachareAshwini Vitthal LengarePankaj Shahaji
IJEECS
ISSN 2348-117X
Volume 6, Issue 11
November 2017
left, right or in sable condition depending upon
different movement hand gesture.
Algorithm
For that movement of wheelchair hand gesture is
required. The detail process of movement of
wheelchair is described by using algorithm.
Algorithm gives the steps which can be done
responsible for movement of wheelchair. Steps of
algorithm are as follows
 Movement of hand.
 Accelerometer senses the gesture of hand.
 Accelerometer sends x and y analog value to
arduino.
 Arduino check analog value x and y.
 Arduino converts x and y value into digital form.
 RF-Transmitter receives signal from arduino and
send to receiver side RF-Receiver.
 RF-Receiversends this signal to the Motor driver
IC.
 Motor driver IC receives signal from RF-
Receiverand thendc motor will drive.
 Wheels of wheelchair drive depending upon
motion of DC motor.
 At end wheelchair will move.
Table for movement of wheelchair
Direction of hand Direction of wheelchair
Front side Forward
Back side Backward
Left side Left
Right side Right
Stable Stop
FUTURE SCOPE
Following modification can be done in hand gesture
controlled wheelchair
 Obstacle detection system can be
implementing on wheelchair, if any obstacle is
present in the path of wheelchair then this give
respective signal to the handicapped person.
 Health monitoring system can be
implemented on wheelchair which is very useful for
handicapped person. This system checks health of
handicapped persons daily.
 International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 11
November 2017

CONCLUSION 9] Wheelchair Motion Control Based On Hand Gesture

Recognition, Gowthaman.A, Ranjith Kumar. R,
In this paper automated wheelchair has been develop
Varunarajan MV, Ganesh Babu.P.
which operates on various hand gesture. This 10] Android Phone Controlled Voice, Gesture and Touch
wheelchair is useful for handicapped, physically Screen Operated Smart Wheelchair,
disabled, and ageing persons. MEMS sensor that is 11] Accelerometer Based Hand Gesture Controlled Robot,
Accelerometer used to detect hand gesture. Mr. PravinVaishnav, Mrs.ShaliniTiwari
Wheelchair can move in forward, backward, left, 12] Tongue Operated Wheelchair For Physically Disabled
right or in stable condition depending upon different People, Monika Jain, Hitesh Joshi.
movement hand gesture. 13] Mr. Pankaj S. lengare, Mr. Milind E. Rane “Hunam
hand tracking using MATLAB to control Arduino
based robotic arm”, International conference on
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